KR102147777B1 - The robot auto teaching system using image and laser hybrid signal, and the method thereof - Google Patents

Abstract

The present invention relates to a robot auto-teaching system using image and laser hybrid signals. According to the present invention, the robot auto-teaching system using image and laser hybrid signals comprises: an alignment mark; an image photographing unit for photographing the alignment mark or the outer appearance of a robot; a displacement measurement unit; a reference value storage unit; a primary robot position correction unit; and a secondary robot position correction unit. According to the present invention, the movement errors of a robot can be minimized.

Description

The robot auto teaching system using image and laser hybrid signal, and the method thereof

The present invention relates to a robot auto-teaching system and method using an image and a laser hybrid signal, and more particularly, to automatically position the robot so that a robot that reciprocates two or more waypoints always accurately arrives at a predetermined waypoint without a movement error. It relates to a robot auto-teaching system and method using a corrected image and a laser hybrid signal.

In general, industrial robots move repeatedly along the taught coordinates.

Industrial robots must always reach their origin or destination accurately in order to faithfully perform a given task.

If the position where the robot actually arrived in the previous cycle and the next cycle for the same target position is different, it may affect the work.

Repeatability is a specification that indicates how much the actual position error of the robot will be when the robot repeatedly moves to the same position.

Since the target position on the program stored in the robot is the same, the robot must always reach the same position, but some errors cannot be avoided due to the physical limitation of the robot.

Influencing the repetition accuracy, there are encoder resolution and reducer backlash.

The backlash is a gap between tooth surfaces when a pair of gears are meshed, and an appropriate backlash is required to smoothly rotate the pair of gears.

If the backlash is too small, the lubrication between the tooth surfaces becomes insufficient and the friction between the tooth surfaces increases, whereas if the backlash is too large, the meshing of the gears deteriorates and the gear is liable to be damaged.

In general, the repetition accuracy is dominated by the backlash of the reducer, and the error due to the resolution of the encoder is negligible.

There is a problem in that an error is inevitably generated between the position coordinate to which the actual robot should move and the position where the actual robot has moved due to the influence of the encoder resolution and the reducer backlash.

On the other hand, as the prior art of the present invention, the "automatic teaching device of the substrate transfer robot" of the patent registration number "10-1329322" has been applied and registered. The automatic teaching device of the substrate transfer robot is used to transfer the substrate to the processing unit. An automatic teaching apparatus for a substrate transfer robot, comprising: a jig wafer mounted on an arm of the substrate transfer robot; a reference display unit provided at the center of a lower surface of the jig wafer; and a reference display unit installed on a plate inside the processing unit to image the reference display unit And a vision camera that acquires one image data, and a control unit that analyzes the image data to move the arm so that the reference display unit reaches a specific position inside the processing unit and stores the movement amount.

However, the automatic teaching device of the substrate transfer robot must also correct the position of the substrate transfer robot arm based on the 2D image data captured by the vision camera, so the height of the substrate transfer robot cannot be accurately determined. There was a problem that a movement error inevitably occurred between the coordinates to which the robot arm was moving and the actual movement position.

Korean patent registration number "10-1329322" (2013.11.14)

Accordingly, in order to solve the above problems, the present invention provides a robot auto-teaching system and method using a laser hybrid signal and an image capable of minimizing the movement error of the robot by increasing the repeatability when the robot alternately moves the first waypoint and the second waypoint. It is an object of the present invention to provide.

In addition, another object of the present invention is to minimize errors that may occur during manufacturing and distribution processes using robots by minimizing movement errors when the robot moves back and forth between two or more waypoints, and improves work efficiency and production efficiency. It is to provide a robot auto-teaching system and method using an image and a laser hybrid signal that can save manpower and time for correcting movement errors.

The robot auto-teaching system using an image and a laser hybrid signal according to the present invention for achieving the above object comprises: an alignment mark marked on a surface of a robot reciprocating at least two stops; An image photographing unit that is fixedly installed at each stop where the robot reciprocates and photographs the alignment mark or the outer shape of the robot when the robot arrives at each stop; A displacement measuring unit that is fixedly installed at each stop where the robot reciprocates and measures a distance distance between the robot arriving at the stop; When the robot is first positioned at each stop according to the internally programmed position coordinates, the alignment mark in the image captured by the image capture unit of each stop or the position coordinate of the robot's outer shape and the rotation angle compared to the set reference line are reference values for each stop A reference value storage unit storing the distance interval measured by the displacement measuring unit of each stopover as a reference value for each stopover; After the reference value for each stopover is stored in the reference value storage unit, when the robot arrives at any one stopover, the alignment mark or robot appearance is photographed through the image capture unit of the waypoint where the robot arrives, and the alignment mark or robot in the captured image It calculates the position coordinates of the outer shape and the rotation angle relative to the set reference line, and the calculated alignment mark or the alignment mark that corresponds to the stopover point where the current robot arrives among the reference values stored in the reference value storage unit for the calculated position coordinates and rotation angle of the robot shape Or a robot position primary correction unit that calculates a position coordinate difference and a rotation angle difference by comparing the position coordinate of the outer shape of the robot and a rotation angle relative to the reference line, and corrects the robot position by the calculated position coordinate difference and the rotation angle difference; And a distance distance between the displacement measurement unit and the robot is measured through the displacement measurement unit of the waypoint where the robot arrives when the robot position is first corrected by the robot position primary correction unit, and the measured distance distance is stored in the reference value storage unit. Among the reference values stored in the robot, the distance error is calculated by comparing with the distance distance corresponding to the waypoint where the current robot has arrived, and a second robot position correction unit that secondly corrects the robot position by the calculated distance error.

The robot auto-teaching system using the image and laser hybrid signal according to the present invention having such a configuration includes an alignment mark or robot appearance engraved on the robot using an image capture unit whenever a robot that reciprocates two or more stops arrives at each stop After taking a picture, comparing the position coordinates of the alignment mark or the outer shape of the robot in the captured image and the rotation angle relative to the reference line with a reference value, and then first correcting the robot position by the position coordinate error and rotation angle error compared to the reference value, and the robot's movement error Can be minimized.

In addition, the present invention does not stop at the primary robot position correction, but measures the distance distance between the displacement measurement unit and the robot using two or more displacement measurement units installed on the waypoint where the robot is currently located, and compares the measured distance distance with a reference value. Afterwards, the robot's movement error was minimized by secondary correction of the robot position by the distance error compared to the reference value.

Accordingly, the robot auto-teaching system using an image and a laser hybrid signal according to the present invention can minimize the movement error of the robot by increasing the repeatability when the robot alternately moves the first waypoint and the second waypoint.

In addition, the present invention minimizes errors that may occur during manufacturing and distribution processes using robots by minimizing movement errors when the robot moves back and forth between two or more stops, improves work efficiency and production efficiency, and corrects movement errors of the robot. It can save manpower and time for work.

Figure 1 is a conceptual diagram of a robot auto-teaching system using an image and a laser hybrid signal.
Fig. 2 is a diagram showing an image photographing unit and a displacement measuring unit installed at each stopover;
3 is a control block diagram of a robot auto teaching system using video and laser hybrid signals.
Figure 4 is a control block diagram of the robot position primary correction unit,
Figure 5 is a diagram for explaining a cross-correlation technique;
Figure 6 is a control block diagram of the robot position secondary correction unit,
Figure 7 is a flow chart of a robot auto-teaching method using an image and a laser hybrid signal.
Figure 8 is a flow chart subdividing the first step,
FIG. 9 is a diagram showing a step 4-1;
Fig. 10 is a diagram showing a step 6-1.

Hereinafter, the present invention will be described in detail with reference to the accompanying drawings.

The robot auto-teaching system using an image and a laser hybrid signal according to the present invention marks the surface of a robot R that reciprocates two or more stops (C,S) as shown in Figs. ) The alignment mark (AM) and; An image that is fixedly installed at each stop (C, S) where the robot (R) reciprocates and photographs the alignment mark (AM) or the robot appearance when the robot (R) arrives at each stop (C, S) A photographing unit 1; A displacement measuring unit (2) that is fixedly installed at each stop (C,S) in which the robot (R) reciprocates and measures a distance between the robot (R) arriving at the stopover (C,S); When the robot (R) is initially positioned at each stop (C,S) according to the internally programmed position coordinates, the mark for alignment in the image captured by the image capture unit (1) of each stop (C,S) ( AM) or the position coordinates of the outer shape of the robot and the rotation angle compared to the set reference line are stored as a reference value for each waypoint (C,S), and the distance interval measured by the displacement measuring unit (2) of each stopover (C,S) A reference value storage unit 3 for storing reference values for each stopover (C, S); After the reference value for each stopover (C,S) is stored in the reference value storage unit 3, when the robot R arrives at one of the stops (C,S), the robot R arrives at the stopover point (C,S). The alignment mark (AM) or the outer shape of the robot is photographed through the image photographing unit (1) of S), and the alignment mark (AM) in the photographed image or the position coordinate of the robot shape and the rotation angle relative to the set reference line are calculated. Alignment marks (AM) or alignment marks (AM) that match the position coordinates of the outer shape of the robot and the rotation angle relative to the reference line among the reference values stored in the reference value storage unit (3), ) Or, a robot position primary correction unit that calculates the position coordinate difference and the rotation angle difference by comparing the position coordinate of the outer shape of the robot and the rotation angle compared to the reference line, and corrects the position of the robot R by the calculated position coordinate difference and the rotation angle difference. (4); And the displacement measurement unit 2 through the displacement measurement unit 2 of the waypoint C and S where the robot R arrives when the position of the robot R is first corrected by the robot position primary correction unit 4 2) Measure the distance gap between the robot (R) and the measured distance gap from the reference values stored in the reference value storage unit 3 to the distance gap that corresponds to the stopover (C,S) where the current robot (R) arrives. The distance error may be compared and the second robot position correction unit 5 may be configured to secondarily correct the position of the robot R by the calculated distance error.

It is preferable that the alignment mark AM has a shape in which two or more straight lines intersect or has a polygonal shape.

Two or more displacement measurement units 2 are installed at each stop (C,S), and the displacement measurement unit 2 uses a laser displacement sensor or an ultrasonic sensor.

The reference line is a straight line whose slope is 0 degrees to 180 degrees compared to the horizontal line.

The robot (R) is an industrial robot (R) that picks up an object placed on one stop (C) and puts it down on another stop (S), and any one stop (C) of two or more stops (C,S) May be a conveyor for moving objects through a transfer belt, and the other stop (S) may be an elevating stage for raising and lowering objects transferred through the robot R.

The robot R is in the form of a robot arm (Arm) with tongs so that an object can be picked up at the end, and the alignment mark AM is preferably marked on the surface of the tongs.

The robot position primary correction unit 4 is an alignment mark (AM) in the image taken through the image capture unit 1 of the waypoint (C, S) where the robot R has arrived, as shown in FIG. ) Or an object extracting unit 41 for extracting the outer shape of the robot; An object position detection unit 42 that detects an alignment mark (AM) extracted by the object extracting unit 41 or a position coordinate in an image of an external shape of the robot and a rotation angle relative to a set reference line; The alignment mark (AM) detected by the object position detection unit 42 or the position coordinates of the outer shape of the robot and the rotation angle relative to the set reference line are selected from the reference values stored in the reference value storage unit 3 to the waypoint where the current robot R arrives ( A movement error derivation unit 43 for calculating a position coordinate difference and a rotation angle difference by comparing the position coordinates of the alignment mark (AM) or the outer shape of the robot and the rotation angle compared to the set reference line; And a robot position primary correction means 44 for correcting the position of the robot R by the position coordinate difference and the rotation angle difference calculated by the movement error derivation unit 43.

As shown in Fig. 5, the object position detection unit 42 is a 2-D Cross Correlation technique in an image from which an alignment mark (AM) or a robot appearance is extracted by the object extraction unit 41. The alignment mark (AM) stored in the reference value storage unit 3 or the alignment mark (AM) most similar to the shape of the robot, or the position coordinates of the shape of the robot are detected.

The robot position secondary correction unit 5, as shown in Figure 6, when the robot (R) arrives at one of the waypoints (C,S) to the waypoints (C,S) where the robot (R) has arrived. A comparison distance distance measurement unit 51 for measuring a distance distance for comparison, which is a distance between the displacement measurement unit 2 and the robot R, using the installed displacement measurement unit 2; The comparison distance distance measured by the comparison distance distance measurement unit 51 is compared with the distance distance corresponding to the stopover (C,S) where the current robot R arrives among the reference values stored in the reference value storage unit 3 A distance error derivation unit 52 for deriving a distance error between the two distance intervals; And a robot position secondary correction means 53 for correcting the position of the robot R by the distance error derived by the distance error derivation unit 52.

In addition, the present invention, as shown in Figure 3, after the robot (R) position is corrected by the robot position primary correction unit 4, the image of the waypoint (C, S) where the robot (R) arrived. The alignment mark (AM) or the outer shape of the robot is re-photographed through the photographing unit 1, and the position coordinates of the alignment mark (AM) or the outer shape of the robot in the re-taken image are stored in the reference value storage unit ( 3) As a result of comparing with the reference value stored in, the object error range determination unit 6 further comprises an object error range determination unit 6 that determines whether the alignment mark AM or the position coordinate difference and the rotation angle difference of the outer shape of the robot are equal to or greater than a set error value, and the object error When it is determined by the range determination unit 6 that the position coordinate difference and the rotation angle difference of the alignment mark AM or the outer shape of the robot are equal to or greater than the set error value, the robot position primary correction unit 4 determines the position of the robot R. Recalibrate.

In addition, the present invention, as shown in Figure 3, after the robot (R) position is corrected by the robot position secondary correction unit (5), the displacement of the waypoint (C, S) where the robot (R) arrived The distance distance between the displacement measurement unit 2 and the robot R is re-measured through the measurement unit 2, and as a result of comparing the remeasured distance distance with the reference value stored in the reference value storage unit 3, the distance distance A distance error range determination unit 7 that determines whether the difference is equal to or greater than a set error value, and when it is determined by the distance error range determination unit 7 that the distance gap difference is equal to or greater than a set error value, the robot position secondary correction unit (5) recalibrates the robot (R) position.

On the other hand, the robot auto-teaching method using an image and a laser hybrid signal according to the present invention minimizes the movement error of the robot when the robot R reciprocates two or more stops (C, S), as shown in FIG. 7. In the robot auto-teaching method using the following image and laser hybrid signal, when the robot position correction means for correcting the position of the robot R as a preliminary operation, the robot R is correctly positioned at each stop (C, S). The alignment mark (AM) marked on the surface of the robot (R) or the outer shape of the robot is photographed using the image capture unit (1) installed at each stopover (C,S), and the alignment mark (AM) or robot in the captured image A first step (S1) of storing the outer position coordinates and the rotation angle relative to the set reference line as reference values for each stopover point (C,S); When the robot (R) is correctly positioned at each stop (C,S) as the robot position correction means is a pre-work, using the displacement measurement unit (2) fixedly installed at each stop (C,S), the displacement measurement unit (2) A second step (S2) of storing the distance interval between the robot (R) and the waypoint (C,S) as a reference value; After completion of the preliminary work, the robot position correction means uses the image capture unit 1 installed at the waypoint (C,S) where the robot (R) arrives when the robot (R) arrives at one of the stops (C,S). This is a system that photographs the alignment mark (AM) marked on the surface of the robot (R) or the outer shape of the robot, and stores the alignment mark (AM) in the captured image or the position coordinates of the outer shape of the robot and the rotation angle compared to the set reference line as a comparison value. Step 3 (S3); The robot position correction means stores the alignment mark (AM) stored as a reference value for the waypoint (C,S) where the robot R is currently located, or the position coordinates of the outer shape of the robot, and the rotation angle compared to the set reference line as a comparison value. By comparing the position coordinates of the mark (AM) or the outer shape of the robot and the rotation angle compared to the set reference line, the position coordinate error and the rotation angle error of the alignment mark (AM) or the outer shape of the robot are calculated, and the position of the robot (R) by the calculated error A fourth step of correcting (S4); The robot position correction means uses the displacement measurement unit 2 installed at the stopover (C, S) where the robot R is currently located, and uses the distance distance between the displacement measurement unit 2 and the robot R as a comparison value. A fifth step of storing (S5); And the robot position correction means calculates a distance error by comparing the distance distance stored as a reference value with the distance distance stored as a comparison value with respect to the stopover (C,S) where the robot R is currently located, and calculates a distance error by the distance error. ) May be made in a sixth step (S6) of correcting the position.

The robot position correction means for correcting the position of the robot R through the preliminary work is an image photographing unit (1) installed at each stop (C, S) when the robot (R) is correctly positioned at each stop (C, S) By using the alignment mark (AM) marked on the surface of the robot (R) or the outer shape of the robot, the alignment mark (AM) in the captured image or the position coordinate of the robot's outer shape and the rotation angle compared to the set reference line are determined at each stop (C). The first step (S1) of storing as a reference value for each ,S) is a step in which the robot position correction means searches for the position of the alignment mark (AM) in the photographed image or the outer shape of the robot, as shown in FIG. 1) and; The robot position correction means comprises a step (S1-2) of calculating an alignment mark (AM) or a position coordinate of the robot outer shape and a rotation angle relative to a set reference line of the robot outer shape. I can.

In addition, the robot auto-teaching method using an image and a laser hybrid signal according to the present invention is as shown in FIG. 9, and after the fourth step (S4) is completed, the robot position correction means is a stopover where the robot R has arrived. The alignment mark (AM) marked on the surface of the robot (R) or the outer shape of the robot is re-photographed using the image capture unit (1) installed in the (C,S), and the alignment mark (AM) or the robot appearance in the captured image Alignment by comparing the position coordinate of the robot (R) and the rotation angle relative to the set reference line with the alignment mark (AM) stored as a reference value for the waypoint (C,S) where the robot (R) is currently located, or the position coordinate of the robot outer shape and the rotation angle compared to the set reference line. If the recalculated alignment mark (AM) or the position coordinate error and rotation angle error of the outer shape of the robot are recalculated, and if the recalculated alignment mark (AM) or the position coordinate error or the rotation angle error of the robot outer shape is more than the set error value, the It further includes a step 4-1 (S4-1) of repeatedly performing the third step (S3) and the fourth step (S4).

In addition, the robot auto-teaching method using an image and a laser hybrid signal according to the present invention is as shown in FIG. 10, and after the sixth step (S6) is completed, the robot position correction means is a stopover where the robot R has arrived. Using the displacement measurement unit 2 installed in (C,S), the distance distance between the displacement measurement unit 2 and the robot R is restored as a comparison value, and the waypoint (C, For S), the distance error is recalculated by recomparison of the distance interval stored as a reference value and the distance interval restored as a comparison value, and if the recalculated distance error is greater than or equal to the set error value, steps 5 and 6 are repeated. It further includes a 6-1 step (S6-1) to be performed.

The robot auto-teaching system using the image and laser hybrid signal according to the present invention constituted in this configuration provides an image every time a robot (R) reciprocating two or more stops (C,S) arrives at each stop (C,S). The alignment mark (AM) engraved on the robot (R) or the shape of the robot is photographed using the photographing unit (1), and the position coordinates of the alignment mark (AM) in the captured image or the outer shape of the robot and the rotation angle relative to the reference line are reference values. After comparing with, it is possible to minimize the movement error of the robot R by first correcting the position of the robot R by the position coordinate error and the rotation angle error compared to the reference value.

In addition, the present invention is not limited to correcting the position of the primary robot (R), but using two or more displacement measuring units (2) installed in the waypoint (C,S) where the robot (R) is currently located, the displacement measuring unit (2) The distance gap between the robot and the robot R was measured, the measured distance gap was compared with a reference value, and the position of the robot R was secondarily corrected by the distance error, thereby minimizing the movement error of the robot R.

Therefore, the robot auto-teaching system using an image and a laser hybrid signal according to the present invention increases the repetition precision when the robot R alternates between the first stop (C) and the second stop (S), thereby reducing the movement error of the robot. Can be minimized.

In addition, the present invention minimizes errors that may occur during the manufacturing and distribution process using the robot R by minimizing the movement error when the robot reciprocates two or more waypoints, improves work efficiency and production efficiency, ) It can save manpower and time for correction of movement error.

C. Stopover S. Stopover
R. Robot AM. Alignment mark
1. Video recording unit 2. Displacement measurement unit
3. Reference value storage unit 4. Robot position primary correction unit
41. Object extraction unit 42. Object position detection unit
43. Movement error derivation unit 44. Robot position primary correction means
5. Robot position secondary correction unit 51. Distance distance measurement unit for comparison
52. Distance error derivation unit 53. Robot position secondary correction means
6. Object error range determination unit 7. Distance error range determination unit

Claims (9)

Alignment marks (AM) marked on the surface of the robot (R) reciprocating two or more waypoints (C, S);
An image that is fixedly installed at each stop (C, S) where the robot (R) reciprocates and photographs the alignment mark (AM) or the robot appearance when the robot (R) arrives at each stop (C, S) A photographing unit 1;
A displacement measuring unit (2) that is fixedly installed at each stop (C,S) in which the robot (R) reciprocates and measures a distance between the robot (R) arriving at the stopover (C,S);
When the robot (R) is initially positioned at each stop (C,S) according to the internally programmed position coordinates, the mark for alignment in the image captured by the image capture unit (1) of each stop (C,S) ( AM) or the position coordinates of the outer shape of the robot and the rotation angle compared to the set reference line are stored as a reference value for each waypoint (C,S), and the distance interval measured by the displacement measuring unit (2) of each stopover (C,S) A reference value storage unit 3 for storing reference values for each stopover (C, S);
After the reference value for each stopover (C,S) is stored in the reference value storage unit 3, when the robot R arrives at one of the stops (C,S), the robot R arrives at the stopover point (C,S). The alignment mark (AM) or the outer shape of the robot is photographed through the image photographing unit (1) of S), and the alignment mark (AM) in the captured image or the position coordinate of the outer shape of the robot and the rotation angle relative to the set reference line are calculated, Alignment mark (AM) or the alignment mark (C, S) that matches the current robot R's arrival destination (C, S) among the reference values stored in the reference value storage unit 3 with the position coordinates of the robot's outer shape and the rotation angle relative to the reference line ( AM) or by comparing the position coordinates of the outer shape of the robot and the rotation angle compared to the reference line, calculating the position coordinate difference and the rotation angle difference, and correcting the robot (R) position by the calculated position coordinate difference and the rotation angle difference. Government (4);
And the displacement measurement unit 2 through the displacement measurement unit 2 of the waypoint C and S where the robot R arrives when the position of the robot R is first corrected by the robot position primary correction unit 4 2) Measure the distance gap between the robot (R), and measure the measured distance gap from the reference values stored in the reference value storage unit 3 to the distance gap corresponding to the destination (C,S) where the current robot (R) arrives. A robot position secondary correction unit 5 that compares and calculates a distance error, and secondly corrects the position of the robot R by the calculated distance error;
After the robot (R) position is corrected by the robot position primary correction unit (4), the alignment mark (AM) through the image capture unit (1) of the waypoint (C,S) where the robot (R) arrived Alternatively, the outer shape of the robot is re-photographed, and as a result of comparing the alignment mark (AM) in the re-taken image or the position coordinate of the robot shape and the rotation angle relative to the set reference line with the reference value stored in the reference value storage unit 3, the alignment mark (AM) or an object error range determination unit 6 for determining whether the position coordinate difference and the rotation angle difference of the outer shape of the robot are equal to or greater than a set error value; And
When the object error range determination unit 6 determines that the alignment mark AM or the position coordinate difference and the rotation angle difference of the outer shape of the robot is equal to or greater than a set error value, the robot position primary correction unit 4 ) After recalibrating the position and correcting the position of the robot R by the robot position secondary correction unit 5, the displacement measuring unit 2 of the waypoint (C,S) where the robot R has arrived As a result of re-measurement of the distance gap between the displacement measuring unit 2 and the robot R, and comparing the remeasured distance gap with the reference value stored in the reference value storage unit 3, whether the distance gap difference is greater than or equal to the set error value. When the distance error range determination unit 7 is configured to determine that the distance gap difference is equal to or greater than the set error value, the robot position secondary correction unit 5 determines the robot R. Reposition it,
The robot position primary correction unit 4 is an object for extracting an alignment mark (AM) or a robot appearance from an image captured through the image capture unit 1 of the waypoint (C, S) where the robot R has arrived An extraction unit 41; An object position detection unit 42 that detects an alignment mark (AM) extracted by the object extracting unit 41 or a position coordinate in an image of an external shape of the robot and a rotation angle relative to a set reference line; The alignment mark (AM) detected by the object position detection unit 42 or the position coordinates of the outer shape of the robot and the rotation angle relative to the set reference line are selected from the reference values stored in the reference value storage unit 3 to the waypoint where the current robot R arrives ( A movement error derivation unit 43 for calculating a position coordinate difference and a rotation angle difference by comparing the position coordinates of the alignment mark (AM) or the outer shape of the robot and the rotation angle compared to the set reference line; And a robot position primary correction means 44 for correcting the position of the robot R by the position coordinate difference and the rotation angle difference calculated by the movement error derivation unit 43,
The robot position secondary correction unit 5 uses the displacement measurement unit 2 installed at the stopover point C,S where the robot R arrives when the robot R arrives at one of the stops (C,S). A distance distance measurement unit 51 for comparison that measures a distance distance for comparison, which is a distance between the displacement measurement unit 2 and the robot R using the displacement measurement unit 2; The comparison distance distance measured by the comparison distance distance measuring unit 51 is compared with the distance distance corresponding to the stopover (C,S) where the current robot R arrives among the reference values stored in the reference value storage unit 3 A distance error derivation unit 52 for deriving a distance error between the two distance intervals; And a robot position secondary correction means 53 for correcting the position of the robot R by the distance error derived by the distance error derivation unit 52. Robot auto-teaching using a laser hybrid signal. system. The method of claim 1,
The alignment mark (AM) is a robot auto-teaching system using an image, laser hybrid signal, characterized in that two or more straight lines intersect or formed in a polygonal shape.
The method of claim 1,
Two or more displacement measuring units 2 are installed at each stopover (C,S),
The displacement measuring unit (2) is a robot auto-teaching system using an image, laser hybrid signal, characterized in that using a laser displacement sensor or an ultrasonic sensor.
The method of claim 1,
The reference line is a robot auto-teaching system using an image, laser hybrid signal, characterized in that the inclination is a straight line of 0 degrees to 180 degrees compared to the horizontal line.
delete delete In the robot auto teaching method using the robot auto teaching system using the image and laser hybrid signal of claim 1,
Robot position correction means for correcting the position of the robot R as a preliminary operation, when the robot R is correctly positioned at each stop (C,S), the image capture unit (1) installed at each stop (C,S) Using the alignment mark (AM) marked on the surface of the robot (R) or the outer shape of the robot, the alignment mark (AM) in the captured image or the position coordinates of the robot's outer shape, and the rotation angle relative to the set reference line are determined at each stop (C). A first step (S1) of storing as a reference value for each ,S);
When the robot (R) is correctly positioned at each stop (C,S) as the robot position correction means is a pre-work, using the displacement measurement unit (2) fixedly installed at each stop (C,S), the displacement measurement unit (2) A second step (S2) of storing the distance interval between the robot (R) and the waypoint (C,S) as a reference value;
After completion of the preliminary work, the robot position correction means uses the image capture unit 1 installed at the waypoint (C,S) where the robot (R) arrives when the robot (R) arrives at one of the stops (C,S). The alignment mark (AM) marked on the surface of the robot (R) or the outer shape of the robot is photographed, and the position coordinates of the alignment mark (AM) or the outer shape of the robot in the captured image and the rotation angle compared to the set reference line are stored as a comparison value. A third step (S3);
The robot position correction means stores the alignment mark (AM) stored as a reference value for the waypoint (C,S) where the robot R is currently located, or the position coordinates of the outer shape of the robot, and the rotation angle compared to the set reference line as a comparison value. By comparing the position coordinates of the mark (AM) or the outer shape of the robot and the rotation angle compared to the set reference line, the position coordinate error and the rotation angle error of the alignment mark (AM) or the outer shape of the robot are calculated, and the position of the robot (R) by the calculated error A fourth step of correcting (S4);
The robot position correction means uses the displacement measurement unit 2 installed at the stopover (C, S) where the robot R is currently located, and uses the distance distance between the displacement measurement unit 2 and the robot R as a comparison value. A fifth step of storing (S5);
And the robot position correction means calculates a distance error by comparing the distance interval stored as a reference value with the distance interval stored as a comparison value with respect to the stopover (C,S) where the robot R is currently located, and calculates a distance error as much as the distance error. A robot auto-teaching method using an image, laser hybrid signal consisting of a sixth step (S6) of correcting the position of ).
The method of claim 7,
After the fourth step (S4) is finished, the robot position correction means is for alignment marked on the surface of the robot (R) by using the image capture unit (1) installed at the stopover (C,S) where the robot (R) arrives. Retake the mark (AM) or the appearance of the robot,
The alignment mark (AM) in the captured image or the position coordinate of the robot's outer shape and the rotation angle compared to the set reference line are stored as a reference value for the waypoint (C,S) where the robot (R) is currently located. Comparing the position coordinates with the rotation angle compared to the set reference line, recalculate the position coordinate error and rotation angle error of the alignment mark (AM) or the outer shape of the robot,
Step 4-1 of repeating the third step (S3) and the fourth step (S4) if the recalculated alignment mark (AM) or the position coordinate error or rotation angle error of the robot outer shape is greater than or equal to the set error value (S4-1), robot auto-teaching method using an image, laser hybrid signal, characterized in that it further comprises.
The method of claim 7,
After the sixth step (S6) is finished, the robot position correction means uses the displacement measurement unit 2 installed at the stopover (C,S) where the robot R arrives, and the displacement measurement unit 2 and the robot R ) To restore the distance interval as a comparison value,
For the waypoint (C,S) where the robot (R) is currently located, the distance error is recalculated by re-comparison of the distance interval saved as a reference value and the distance interval restored as a comparison value, and if the recalculated distance error is more than the set error value, ,
A robot auto-teaching method using an image and a laser hybrid signal, further comprising step 6-1 (S6-1) of repeatedly performing the fifth step and the sixth step.

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